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MERA-603

Robotics Engineering

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INSTRUCTIONS TO PAPER SETTERS:


Maximum Marks: 60
1. Question No. 1 should be compulsory and cover the entire syllabus. This question should have
objective or short answer type questions. It should be of 20 marks.
2. Apart from Question No. 1, rest of the paper shall consist of four units as per the syllabus. Every
unit should have two questions. However, student may be asked to attempt only 1 question from
each unit. Each question should be 10 marks
UNIT I-Introduction
History of robots, Classification of robots, Present status and future trends. Basic components of robotic system.
Basic terminology- Accuracy, Repeatability, Resolution, Degree of freedom. Mechanisms and transmission, End
effectors, Grippers-different methods of gripping, Mechanical grippers-Slider crank mechanism, Screw type,
Rotary actuators, Cam type gripper, Magnetic grippers, Vacuum grippers, Air operated grippers; Specifications of
robot.
[T1, T2, R1, R2, R7]
UNIT II- Drive systems and Sensors
Drive system- hydraulic, pneumatic and electric systems
Sensors in robot Touch sensors, Tactile sensor, Proximity and range sensors, Robotic vision sensor, Force
sensor, Light sensors, Pressure sensors.
[T1, T2, R1, R2, R6, R7]
UNIT II- Kinematics and Dynamics of Robots
2D, 3D Transformation, Scaling, Rotation, Translation, Homogeneous coordinates, multiple transformation,
Simple problems.
Matrix representation, Forward and Reverse Kinematics Of Three Degree of Freedom, Homogeneious
Transformations, Inverse kinematics of Robot,Robot Arm dynamics, D-H representationof robots, Basics of
Trajectory Planning.
[T1, T2, R1, R2, R5]
UNIT IV-Robot Control, Programming and Applications
Robot controls-Point to point control, Continuous path control, Intelligent robot, Control system for robot joint,
Control actions, Feedback devices, Encoder, Resolver, LVDT,Motion Interpolations, Adaptive control.
Introduction to Robotic Programming, On-line and off-line programming, programming examples.
Robot applications-Material handling, Machine loading and unloading, assembly, Inspection, Welding, Spray
painting.
[T1, T2, R6, R7]
Text Books:
[T1]
Mikell P Groover, Nicholas G Odrey, Mitchel Weiss, Roger N Nagel, Ashish Dutta, Industrial
Robotics, Technology programming and Applications", McGraw Hill, 2012.
[T2]
Craig. J. J. Introduction to Robotics- mechanics and control, Addison- Wesley, 1999.
Reference Books:
[R1]
S.R. Deb, Robotics Technology and flexible automation, Tata McGraw-Hill Education., 2009.
[R2]
Richard D. Klafter, Thomas .A, ChriElewski, Michael Negin, "Robotics Engineering an Integrated
Approach", PHI Learning., 2009.
[R3]
Francis N. Nagy, Andras Siegler, "Engineering foundation of Robotics", Prentice Hall Inc., 1987.
[R4]
P.A. Janaki Raman, "Robotics and Image Processing an Introduction", Tata McGraw Hill Publishing
company Ltd., 1995.
[R5]
Carl D. Crane and Joseph Duffy, "Kinematic Analysis of Robot manipulators", Cambridge
University press, 2008.
[R6]
Fu. K. S., Gonzalez. R. C. & Lee C.S.G., Robotics control, sensing, vision and intelligence,

[R7]

McGraw Hill Book co, 1987


Ray Asfahl. C., Robots and Manufacturing Automation, John Wiley & Sons Inc.,1985